CN208515806U - Universal shaft type full rigidity twin-rotor helicopter altogether - Google Patents
Universal shaft type full rigidity twin-rotor helicopter altogether Download PDFInfo
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- CN208515806U CN208515806U CN201821030425.7U CN201821030425U CN208515806U CN 208515806 U CN208515806 U CN 208515806U CN 201821030425 U CN201821030425 U CN 201821030425U CN 208515806 U CN208515806 U CN 208515806U
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Abstract
The utility model provides a kind of universal shaft type full rigidity twin-rotor helicopter altogether, is related to the technical field of flight equipment.Universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model includes fuselage, rotor shaft, rotor and driving device；Rotor shaft includes interior shaft and outer shaft；Rotor includes upper rotor and lower rotor；Interior shaft and outer shaft are coaxial, are connect, can be rotated around same fixed pivot relative to fuselage with fuselage by universal bearing component；Fixed pivot is located on the axis of interior shaft；Driving device is sequentially connected with interior shaft and outer shaft respectively, to respectively drive interior shaft around own axis and outer shaft around own axis；Upper rotor is fixedly connected on interior shaft, and lower rotor is fixedly connected on outer shaft；Upper rotor and lower rotor are distributed along the axially spaced-apart of interior shaft.By universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model, the technical problem that manipulation difficulty is larger present in helicopter in the prior art is alleviated.
Description
Technical field
The utility model relates to the technical fields of aviation flight equipment, double more particularly, to a kind of universal shaft type full rigidity altogether
Heligyro.
Background technique
Heligyro includes diversified forms, is mainly had: single rotor, coaxial double-rotary wing and not coaxial more rotors.
The Fei Kong mechanism of single-rotor helicopter generally comprises rotor and tail-rotor；When rotor wing rotation, helicopter fuselage can be produced
The raw moment of reaction, the moment of reaction tend to that helicopter is driven to rotate around fuselage axis, influence the balance of fuselage；In helicopter
Tail-rotor is arranged in the side of tail portion, the torque to fuselage generated using tail-rotor rotation, to balance the moment of reaction of rotor.
When rotor wing rotation, the relative air speed of the advancing blade rotated in rotor to heading is higher than to tail side
To the relative air speed of the retreating blade of rotation, the lift that advancing blade generates is greater than the lift that retreating blade generates, causes
The lift distribution of fuselage two sides is uneven；Lift distribution is uneven, and fuselage can be made to roll to side, is unfavorable for fuselage balance.Therefore, existing
There is the blade of the single-rotor helicopter in technology that full articulation formula is generally used to come with rotor axis connection, reality between blade and rotor shaft
The structure of existing full articulation formula connection generally comprises flapping hinge, lead lag hinge and pitch hinge；Flapping hinge makes blade can be relative to rotor shaft
It swings up and down in a certain range, to solve the problems, such as that fuselage two sides lift distribution is uneven；Lead lag hinge makes blade can be along blade
Gyratory directions are swung in a certain range；Pitch hinge deflect blade can around own axes in a certain range, to adjust blade
The established angle of opposite rotor shaft, the lift that adjustment blade generates.
Coaxial double-rotor helicopter includes two groups of axial spaced rotors up and down along rotor shaft, turn of two groups of rotors
Move contrary, two groups of rotor wing rotations can mutually balance the moment of reaction that fuselage generates, thus coaxial double-rotor helicopter
Tail-rotor can be omitted.
Single-rotor helicopter and coaxial double-rotor helicopter, blade are generally connect with auto-bank unit, and driver can pass through
Auto-bank unit adjusts established angle of the blade relative to rotor shaft, that is, adjusts the angle of attack of blade, blade displacement is realized, to adjust
The lift size for saving rotor, controls the moving situation of helicopter.
Not coaxial multirotor helicopter, the blade in each rotor are respectively fixedly connected in each rotor shaft, Ge Gexuan
Wing axis arranged for interval on helicopter makes each rotor phase interworking by controlling the rotation direction and rotation size of each rotor
It closes, motion control is carried out to helicopter.
From the above it can be seen that single-rotor helicopter in the prior art and coaxial double-rotor helicopter, between blade and rotor shaft
Setting pitch hinge is generally required, and variable pitch contro l is carried out to blade by auto-bank unit, Fei Kong mechanism is more complicated, and
It is larger to manipulate difficulty；Not coaxial multirotor helicopter then needs to control multiple rotors and cooperates, and balance factor is larger, manipulation
Difficulty is larger.
The information disclosed in the background technology section is intended only to deepen the reason to the general background technology of the utility model
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Utility model content
The purpose of this utility model is to provide a kind of universal shaft type full rigidity twin-rotor helicopters altogether, to alleviate existing skill
The larger technical problem of manipulation difficulty present in helicopter in art.
Universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model includes: fuselage, rotor shaft, rotor and drive
Dynamic device；Rotor shaft includes interior shaft and outer shaft；Rotor includes upper rotor and lower rotor；Interior shaft and outer shaft are coaxial, and
And connect by universal bearing component with fuselage, it can be rotated relative to fuselage around same fixed pivot；Fixed pivot is located at interior turn
On the axis of axis；Driving device is sequentially connected with interior shaft and outer shaft respectively, is turned with respectively driving interior shaft around own axes
Dynamic and outer shaft is around own axis；Upper rotor is fixedly connected on interior shaft, and lower rotor is fixedly connected on outer shaft；Upper rotor
Axially spaced-apart with lower rotor along interior shaft is distributed.
Further, upper rotor includes blade in upper propeller hub and multi-disc, and upper propeller hub is fixedly connected on the end of interior shaft；It is more
On piece blade is evenly spaced on along the circumferential direction of interior shaft, and is fixedly connected in upper propeller hub；Lower rotor include lower propeller hub and
Blade under multi-disc, lower propeller hub are fixedly connected on the end of outer shaft；Blade is evenly spaced on along the circumferential direction of outer shaft under multi-disc,
And it is fixedly connected in lower propeller hub.
Further, universal bearing component includes change and transmission frame body；Interior shaft and outer shaft are rotationally connected with biography
Moving frame body, and frame body opposite can be driven around own axis；Transmission frame body is rotationally connected with change, can be with respect to change around the
The rotation of one axis；Change is rotationally connected with fuselage, can rotate relative to fuselage around second axis；First axle and second axis phase
Meet at fixed pivot.
Further, first axle is perpendicular to second axis.
Further, outer shaft is rotationally connected with transmission frame body by Upper shaft sleeve；Interior shaft is passed through from outer shaft, and
It is rotatablely connected by rotation connection component and transmission frame body and outer shaft.
Further, driving device includes first bevel gear, second bevel gear and third hand tap gear；Outer shaft and the second cone
Gear is fixedly connected；Interior shaft is passed through from outer shaft, is fixedly connected with first bevel gear；Third hand tap gear is rotationally connected with biography
Moving frame body opposite can be driven frame body around own axis, and two sides are engaged with first bevel gear and second bevel gear respectively.
Further, driving device includes two third hand tap gears, and two third hand tap gears are oppositely arranged.
Further, driving device further includes engine driving component and the first universal joint, and engine driving component passes through
First universal joint is connect with interior rotating shaft transmission.
Further, driving device includes first motor and the second motor, and first motor and the second motor are all connected to pass
Moving frame body, and the rotor of the rotor of first motor and the second motor is coaxial；The transmission connection of the rotor of outer shaft and the second motor；
Interior shaft is passed through from outer shaft, is sequentially connected with the rotor of first motor.
Further, universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model further includes the second universal joint
And control stick, control stick are connected to the one end of interior shaft far from upper rotor by the second universal joint, for driving interior shaft and outer
Shaft is rotated relative to fuselage around fixed pivot.
Universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model is related to the technology neck of aviation flight equipment
Domain.Universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model includes: fuselage, rotor shaft, rotor and driving dress
It sets；Rotor shaft includes interior shaft and outer shaft；Rotor includes upper rotor and lower rotor；Interior shaft and outer shaft are coaxial, and
It is connect, can be rotated around same fixed pivot relative to fuselage with fuselage by universal bearing component；Fixed pivot is located at interior shaft
On axis；Driving device is sequentially connected with interior shaft and outer shaft respectively, with respectively drive interior shaft around own axis and
Outer shaft is around own axis；Upper rotor is fixedly connected on interior shaft, and lower rotor is fixedly connected on outer shaft；Upper rotor is under
Rotor is distributed along the axially spaced-apart of interior shaft.Universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model, can lead to
Over-driving device drives upper rotor and lower rotor to rotate round about respectively, the moment of reaction and backspin of the upper rotor to fuselage
The wing can cancel out each other to the moment of reaction of fuselage, be conducive to the balance of fuselage；In addition, the lift that upper rotor generates is in two sides
It is unevenly distributed, lift being unevenly distributed in two sides generated with lower rotor can mutually balance, be conducive to the balance of fuselage.
Since the load of loading is different, the center of gravity of the fuselage of helicopter can shift；Under normal circumstances, the center of gravity of fuselage
Not on the axis of rotor shaft.
Universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model, after loading load, the center of gravity of fuselage is sent out
Raw offset.In the first state of flight, the center of gravity of fuselage is not on the axis of interior shaft；By the center of gravity of fixed pivot and fuselage it
Between line be denoted as arbor；In the first state of flight, arbor is not overlapped with the axis of interior shaft.In fixed pivot, rotor shaft pair
Fuselage generates the rotor thrust of the axis direction along interior shaft.The gravity of fuselage crosses center of gravity straight down, and fuselage gravity is in fixation
Fulcrum generates the first torque.Fuselage in flight course by air drag, direction and the heading of the air drag on the contrary,
And the second torque is generated in fixed pivot, which can be equivalent to center of gravity and exist perpendicular to the empty resistance equivalent force of arbor
The torque that fixed pivot generates.
In flight course, driver can control the revolving speed of rotor by driving device, to control the size of rotor thrust.
In universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model, interior shaft and outer shaft can be with respect to fuselages around fixation
Fulcrum rotation, i.e. angle between the axis and arbor of rotor shaft are adjustable.The size of air drag is influenced by flying speed, i.e.,
Sky resistance equivalent force is influenced by flying speed.
In flight course, provided by the utility model universal shaft type full rigidity twin-rotor helicopter, rotor shaft can be by altogether
It gradually turns to and is overlapped with arbor；Sky resistance equivalent force changes with flying speed；Driver controls the size of rotor thrust, can make fuselage
Gravity is along the component and the equivalent dynamic balance of sky resistance perpendicular to arbor direction, component and rotor thrust of the fuselage gravity along arbor direction
Balance, universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model are gradually adjusted from the first state of flight to balance
State realizes hovering or unaccelerated flight.
Process is adjusted in the state of flight of universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model, it can not
By the tail-rotor and the components such as auto-bank unit in the helicopter of the prior art, by rotor shaft relative to fuselage around fixed pivot
Rotation, so that mutually being balanced between the torque that fuselage gravity generates and the torque that air drag generates, to be easy to keep this practical
The universal shaft type full rigidity twin-rotor helicopter altogether of novel offer reaches dynamic equilibrium, reduces manipulation difficulty, alleviates existing
The larger technical problem of manipulation difficulty present in helicopter in technology.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, be cited below particularly the utility model compared with
Good embodiment, and cooperate appended attached drawing, it is described below in detail.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of universal shaft type full rigidity twin-rotor helicopter altogether provided by the embodiment of the utility model；
Fig. 2 is rotor shaft, transmission in universal shaft type full rigidity twin-rotor helicopter altogether provided by the embodiment of the utility model
The structural schematic diagram of frame body and change；
Fig. 3 be it is provided by the embodiment of the utility model altogether in universal shaft type full rigidity twin-rotor helicopter driving device the
A kind of structural schematic diagram of embodiment；
Fig. 4 be it is provided by the embodiment of the utility model altogether in universal shaft type full rigidity twin-rotor helicopter driving device the
The structural schematic diagram of two kinds of embodiments；
Fig. 5 be it is provided by the embodiment of the utility model altogether universal shaft type full rigidity twin-rotor helicopter equilibrium state when by
Power analysis chart；
Fig. 6 is the flight attitude manipulation of universal shaft type full rigidity twin-rotor helicopter altogether provided by the embodiment of the utility model
Schematic diagram.
Fig. 7 is the flight attitude manipulation of universal shaft type full rigidity twin-rotor helicopter altogether provided by the embodiment of the utility model
Schematic diagram.
Icon: shaft in 011-；The upper rotor of 012-；021- outer shaft；Rotor under 022-；03- is driven frame body；031- ear
Axis；04- change；041- annulate shaft；051- first bevel gear；052- second bevel gear；053- third hand tap gear；The first electricity of 061-
Machine；The second motor of 062-；The first universal joint of 07-；08- control stick；081- sliding slot；082- handle；083- sliding block；084- sliding pin；
The second universal joint of 09-.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection, is also possible to be electrically connected；It can be direct phase
Even, the connection inside two elements can also be can be indirectly connected through an intermediary.For the ordinary skill people of this field
For member, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Universal shaft type full rigidity twin-rotor helicopter altogether provided by the utility model includes: fuselage, rotor shaft, rotor and drive
Dynamic device；Rotor shaft includes interior shaft 011 and outer shaft 021；Rotor includes upper rotor 012 and lower rotor 022；Interior shaft 011
It is coaxial with outer shaft 021, and connect by universal bearing component with fuselage, it can turn with respect to fuselage around same fixed pivot
It is dynamic；Fixed pivot is located on the axis of interior shaft 011；Driving device is sequentially connected with interior shaft 011 and outer shaft 021 respectively,
To respectively drive interior shaft 011 around own axis and outer shaft 021 around own axis；Upper rotor 012 is fixedly connected
In interior shaft 011, lower rotor 022 is fixedly connected on outer shaft 021；The axis of upper rotor 012 and lower rotor 022 along interior shaft 011
To being spaced apart.
Specifically, universal shaft type all steel twin-rotor helicopter altogether provided by the embodiment of the utility model, can pass through driving
Device drives upper rotor 012 and lower rotor 022 to rotate round about respectively, upper rotor 012 to the moment of reaction of fuselage and
Lower rotor 022 can cancel out each other to the moment of reaction of fuselage, be conducive to the balance of fuselage；In addition, the liter that upper rotor 012 generates
Power is unevenly distributed two sides, and lift being unevenly distributed in two sides generated with lower rotor 022 can mutually balance, be conducive to machine
The balance of body.
Since the load of loading is different, the center of gravity of the fuselage of helicopter can shift；Under normal circumstances, the center of gravity of fuselage
Not on the axis of rotor shaft.
Universal shaft type all steel twin-rotor helicopter altogether provided by the embodiment of the utility model, after loading load, fuselage
Center of gravity shifts.In the first state of flight, the center of gravity of fuselage is not on the axis of interior shaft 011；By fixed pivot and machine
Line between the center of gravity of body is denoted as arbor；In the first state of flight, arbor is not overlapped with the axis of interior shaft 011.In fixation
Fulcrum, rotor shaft generate the rotor thrust of the axis direction along interior shaft 011 to fuselage.The gravity of fuselage crosses center of gravity and along vertical
Downwards, fuselage gravity generates the first torque in fixed pivot.Fuselage in flight course by air drag, the air drag
Direction and heading on the contrary, and generate the second torque in fixed pivot, which can be equivalent to center of gravity and vertical
In the torque that the empty resistance equivalent force of arbor is generated in fixed pivot.
In flight course, driver can control the revolving speed of rotor by driving device, to control the size of rotor thrust.
In universal shaft type all steel twin-rotor helicopter altogether provided by the embodiment of the utility model, interior shaft 011 and outer shaft 021 can phases
Fuselage is rotated around fixed pivot, i.e., the angle between the axis and arbor of rotor shaft is adjustable.The size of air drag is by winged
Scanning frequency degree influences, i.e., empty resistance equivalent force is influenced by flying speed.
In flight course, universal shaft type all steel twin-rotor helicopter altogether provided by the embodiment of the utility model, rotor
Axis can be gradually rotated to arbor and is overlapped；Sky resistance equivalent force changes with flying speed；Driver controls the size of rotor thrust, can
Make fuselage gravity along perpendicular to arbor direction component and it is empty hinder equivalent dynamic balance, the component along arbor direction of fuselage gravity with
Rotor thrust balance, it is provided by the embodiment of the utility model to be total to universal shaft type all steel twin-rotor helicopter from the first state of flight
It gradually adjusts to equilibrium state, realizes hovering or unaccelerated flight.
It was adjusted in the state of flight of universal shaft type all steel twin-rotor helicopter altogether provided by the embodiment of the utility model
Journey, can not by the tail-rotor and the components such as auto-bank unit in the helicopter of the prior art, by rotor shaft relative to fuselage around
Fixed pivot rotation, so that mutually being balanced between the torque that fuselage gravity generates and the torque that air drag generates, to be easy to
So that universal shaft type all steel twin-rotor helicopter altogether provided by the embodiment of the utility model is reached dynamic equilibrium, it is difficult to reduce manipulation
Degree.
In universal shaft type all steel twin-rotor helicopter altogether provided by the embodiment of the utility model, between rotor and rotor shaft
It realizes full rigidity connection, eliminates " flapping hinge ", " lead lag hinge " and " pitch hinge " this kind of component in the prior art and its attached
Complex manipulation mechanism reduces two groups of rotors risk close to each other for interfering collision, to simplify operating mechanism and manipulation side
Method, raising payload, promotion maximum flying speed and lifting power create basic condition.
It should be noted that the center of gravity of fuselage shifts, and arbor inclines relative to vertical direction after fuselage loads cargo
Rake angle should be not more than maximum rotation angle of the rotor shaft relative to vertical direction, should make rotor shaft that can rotate around fixed pivot
Extremely it is overlapped with arbor.
Specifically, Fig. 1 is please referred to, outer shaft 021 is hollow structure；Interior shaft 011 is passed through from outer shaft 021, and
The both ends of interior shaft 011 exceed outer shaft 021.Interior shaft 011 is close to the end of fuselage and outer shaft 021 close to the end of fuselage
Portion is connect with driving device.Upper rotor 012 is located at lower side of the rotor 022 far from fuselage.
Universal shaft type all steel twin-rotor helicopter, upper rotor 012 altogether provided by the embodiment of the utility model are fixedly connected
In interior shaft 011；Lower rotor 022 is fixedly connected on outer shaft 021.It should be noted that term " being fixedly connected " includes bolt
The rigid connections such as connection and welding.
Universal shaft type all steel twin-rotor helicopter altogether provided by the embodiment of the utility model eliminates flapping hinge, lead lag hinge
And pitch hinge, simplify the connection structure of rotor more, structure is relatively reliable.
Spaced two groups of rotors when rotated, have trend close to each other under airflow function.The utility model
The universal shaft type all steel twin-rotor helicopter altogether that embodiment provides, rotor is fixedly connected with rotor shaft, to reduce two groups
The rotor risk close to each other for interfering collision.
Further, upper rotor 012 includes blade in upper propeller hub and multi-disc, and upper propeller hub is fixedly connected on interior shaft 011
End；Blade is evenly spaced on along the circumferential direction of interior shaft 011 in multi-disc, and is fixedly connected in upper propeller hub；Lower rotor 022
Including blade under lower propeller hub and multi-disc, lower propeller hub is fixedly connected on the end of outer shaft 021；Blade is along outer shaft 021 under multi-disc
Circumferential direction be evenly spaced on, and be fixedly connected in lower propeller hub.
Specifically, upper rotor 012 includes 2-5 upper blades, and upper blade is evenly spaced on along the circumferential direction of upper propeller hub in upper
On propeller hub.Lower rotor 022 includes 2-5 lower blades, and lower blade is evenly spaced on along the circumferential direction of lower propeller hub on lower propeller hub.
In some embodiments, upper blade is identical and equal sized with the shape of lower blade.Upper rotor 012 includes upper paddle
The quantity of leaf is equal to the quantity that lower rotor 022 includes lower blade.
Further, universal bearing component includes change 04 and transmission frame body 03；Interior shaft 011 and outer shaft 021 turn
It is dynamic to be connected to transmission frame body 03, and frame body 03 opposite can be driven around own axis；Transmission frame body 03 is rotationally connected with
Ring 04 can be rotated relative to change 04 around first axle；Change 04 is rotationally connected with fuselage, can turn relative to fuselage around second axis
It is dynamic；First axle and second axis intersect at fixed pivot.
Specifically, referring to figure 2., transmission frame body 03 is surrounded in change 04；The opposite two sides of change 04 are connected separately with ring
Axis 041, annulate shaft 041 and change 04 are fixed, and the axis collinear of the annulate shaft 041 of two sides；The annulate shaft 041 of two sides is turned by bearing
It is dynamic to be connected to fuselage, so that change 04 can be rotated relative to fuselage around the axis of annulate shaft 041.The axis of annulate shaft 041 is the second axis
Line.
Change 04 is additionally provided with trunnion hole.The axis in trunnion hole intersects with the axis of annulate shaft 041.It is driven two of frame body 03
The trunnion 031 with ear shaft hole matching is respectively arranged on opposite side；Trunnion 031 is inserted into trunnion hole, by bearing and is turned
Ring 04 is rotatablely connected, so that transmission frame body 03 can be relative to change 04 around the axis rotation in trunnion hole.The axis in trunnion hole is
One axis.
Interior shaft 011 and outer shaft 021 are all connected to transmission frame body 03, the axis of the axis and trunnion hole of annulate shaft 041
Intersection point is located on the axis of interior shaft 011, which is fixed pivot.
By universal bearing component, this three-level rotation on-link mode (OLM) between rotor shaft and fuselage makes rotor shaft axial direction phase
The variation of two degrees of freedom is provided with for fuselage, is no longer fixed and invariable, the connection of universal shaft type is realized.
Using the connection of this universal shaft type, can not only be grasped by the axial variation in coning angle of control rotor shaft
The flight attitude of vertical helicopter, but also gravitational moment and resistance are realized in the relative position that can use body nodal point and rotor shaft center of gravity
Autobalance between torque, not needing additional balancing mechanism and artificial manipulation can allow body nodal point to automatically return to balance position
It sets, that is, has from steady function.
Further, first axle is perpendicular to second axis.
In some embodiments, the axis of annulate shaft 041 is vertical with the axis in trunnion hole and intersects.
As another embodiment, the axis of annulate shaft 041 intersects with the axis in trunnion hole, and angle is greater than 0 °, small
In 90 °.
Further, outer shaft 021 is rotationally connected with transmission frame body 03 by Upper shaft sleeve；Interior shaft 011 is from outer shaft 021
In pass through, and by rotation connection component and transmission frame body 03 and outer shaft 021 be rotatablely connected.
Specifically, outer shaft 021 protrudes into transmission frame body 03, and is rotationally connected with transmission frame body 03 by Upper shaft sleeve.
Being rotatablely connected component includes Lower shaft sleeve and bearing.Interior shaft 011 is passed through from outer shaft 021 and transmission frame body 03, and
And interior shaft 011 is rotatablely connected by bearing and outer shaft 021, interior shaft 011 stretches out outer shaft 021 close to one end of fuselage,
And it is rotatablely connected by Lower shaft sleeve and transmission frame body 03.
In some embodiments, there are two bearings, two bearings to turn along outer for setting between interior shaft 011 and outer shaft 021
The axis direction of axis 021 is spaced apart, and is located at outer shaft 021 close to the end of lower rotor 022 and outer shaft 021 close to machine
The end of body.
Further, driving device includes first bevel gear 051, second bevel gear 052 and third hand tap gear 053；Second
Bevel gear 052 is connected to outer shaft 021；First bevel gear 051 is connected to interior shaft 011；Third hand tap gear 053 is rotationally connected with
It is driven frame body 03, opposite can be driven frame body 03 around own axis, and two sides are bored with first bevel gear 051 and second respectively
Gear 052 engages.
Specifically, referring to figure 3., first bevel gear 051 and second bevel gear 052 are coaxial, and pass through third hand tap gear
053 transmission connection；The rotation direction of first bevel gear 051 and second bevel gear 052 is on the contrary, to shaft 011 in realization and outside
The rotation direction of shaft 021 is opposite.
In some embodiments, the number of teeth of first bevel gear 051 is equal to the number of teeth of second bevel gear 052, so that interior shaft
011 revolving speed is equal to the revolving speed of outer shaft 021.
As another embodiment, the number of teeth of first bevel gear 051 is greater than the number of teeth of second bevel gear 052, so that outside
The revolving speed of shaft 021 is greater than the revolving speed of interior shaft 011, and the lift that single lower blade generates is greater than the liter that single upper blade generates
Power.The quantity for the lower blade that lower rotor 022 includes is less than the quantity for the upper blade that upper rotor 012 includes.By making the first cone tooth
Gear ratio between wheel 051 and second bevel gear 052, the quantity ratio between upper blade and lower blade matches, so that this reality
The lift holding of the two sides of universal shaft type all steel twin-rotor helicopter altogether provided with new embodiment is evenly distributed.
Further, driving device includes two third hand tap gears 053, and two third hand tap gears 053 are oppositely arranged.
Specifically, the axis collinear of two third hand tap gears 053, so that first bevel gear 051 and second bevel gear 052 pass
Distribution of force is more uniform during dynamic, is driven more steady.
Further, driving device further includes engine driving component and the first universal joint 07, and engine driving component is logical
The first universal joint 07 is crossed to be sequentially connected with interior shaft 011.
Specifically, engine driving component includes engine and retarder；Engine is fixed on fuselage, the input of retarder
The transmission connection of the output shaft of axis and engine.
Interior shaft 011 stretches out transmission frame body 03；One end of first universal joint 07 is connect with interior shaft 011, the other end with subtract
The output axis connection of fast device, so that interior shaft 011 can be rotated relative to the output shaft of retarder.The opposite fuselage of interior shaft 011 is around solid
Determine fulcrum to rotate, the first universal joint 07 can make the output shaft of retarder and interior shaft 011 keep being sequentially connected.
As another embodiment, driving device includes motor, and motor is installed on transmission frame body 03, and electronic
The output shaft of machine and interior shaft 011 are sequentially connected.
Further, driving device includes first motor 061 and the second motor 062, first motor 061 and the second motor
062 is all connected to transmission frame body 03, and the rotor coaxial of the rotor of first motor 061 and the second motor 062；Outer shaft 021
It is sequentially connected with the rotor of the second motor 062；Interior shaft 011 passes through outer shaft 021 and the second motor 062, with first motor 061
Rotor transmission connection.
Specifically, referring to figure 4., the axial direction distribution of first motor 061 and the second motor 062 along interior shaft 011, the second electricity
Machine 062 is located at the one end of first motor 061 far from fuselage；Outer shaft 021 is driven by the rotor of key and the second motor 062 to be connected
It connects；Interior shaft 011 passes through the rotor of outer shaft 021 and first motor 061, and is passed with the rotor of first motor 061 by key
Dynamic connection.
First motor 061 drives interior shaft 011 to rotate, and the second motor 062 drives outer shaft 021 to rotate.Interior shaft 011
Revolving speed size and Orientation and the revolving speed size and Orientation of outer shaft 021 can be independently controlled respectively, simplify power transmission machine
Structure.
Two kinds of embodiments of above-mentioned driving device, one is a simplified the connection structure of driving device and rotor shaft, is convenient for
Rotor shaft axially controls；Second is that it is conducive to rotor shaft center of gravity counterweight, it is significant for flight attitude balance control.
Further, universal shaft type all steel twin-rotor helicopter altogether provided by the embodiment of the utility model further includes second
Universal joint 09 and control stick 08, control stick 08 are connected to one of interior shaft 011 far from upper rotor 012 by the second universal joint 09
End, for driving interior shaft 011 and outer shaft 021 to rotate relative to fuselage around fixed pivot.
In some embodiments, the rotation of interior shaft 011 is driven by first motor 061, one end of the second universal joint 09 with
Interior shaft 011 connects, and the other end is connect with control stick 08；Driver can drive interior shaft 011 around fixed branch by control stick 08
Point rotation, to adjust the angle between rotor shaft and arbor.
In some embodiments, the rotation of interior shaft 011 is driven by engine driving component, the end of interior shaft 011
It is connect with the first end of the second universal joint 09；The second end of second universal joint 09 is connect with the first end of the first universal joint 07, and
And control stick 08 is connected to the second end end of the second universal joint 09；The second end of first universal joint 07 and the output shaft of retarder
Connection.Driver can drive interior shaft 011 to rotate around fixed pivot by control stick 08, to adjust between rotor shaft and arbor
Angle.
Please refer to Fig. 1 and Fig. 7, universal shaft type full rigidity twin-rotor helicopter altogether provided by the embodiment of the utility model, behaviour
Vertical pole 08 is rotatablely connected to control rotor shaft axial direction by the lower end of the second universal joint 09 and interior shaft 011, and then controls straight
The flight attitude of the machine of liter；Control stick 08 includes sliding slot 081, handle 082, sliding block 083 and sliding pin 084；Pass through sliding slot 081, sliding block
083 and sliding pin 084 cooperate, can control that rotor shaft is axial to be changed in a given coning angle by handle 082；It decontrols
Handle 082, allows rotor shaft to be in free state, and helicopter can automatically return to equilibrium state.
Further, rotor shaft center of gravity is located at fixed pivot close to the side of fuselage or rotor shaft center of gravity and fixed branch
Point is overlapped.
Specifically, when the rotation of interior shaft 011 is driven by first motor 061, rotor shaft center of gravity refers to rotor, rotor
Axis, first motor 061, the center of gravity of the second motor 062 and transmission frame body 03 as a whole.First motor 061, the second motor 062
Has the function of counterweight with transmission frame body 03, so that rotor shaft center of gravity is deviated to fuselage.
When the rotation of interior shaft 011 is by engine driving Component driver, rotor shaft center of gravity refers to rotor, rotor shaft,
One bevel gear 051, second bevel gear 052, the center of gravity of third hand tap gear 053 and transmission frame body 03 as a whole.First bevel gear
051, second bevel gear 052, third hand tap gear 053 and transmission frame body 03 have the function of counterweight, so that rotor shaft center of gravity is to machine
Body offset.
Referring to Fig.1 and 2, trunnion 031 is set to transmission end of the frame body 03 far from fuselage.Rotor shaft center of gravity is located at ear
The side of the close fuselage for the plane that the axis of axis 031 and the axis of annulate shaft 041 are formed or rotor shaft center of gravity are located at trunnion
On 031 axis.
It is provided by the embodiment of the utility model altogether universal shaft type all steel twin-rotor helicopter, compared with the prior art in
Helicopter has the advantages that blade and the full rigidity of rotor between centers are connect, the universal shaft type connection between rotor shaft and fuselage,
Rotor shaft is integrated with driving device, simplified operating mechanism.
Below to it is provided by the embodiment of the utility model altogether universal shaft type all steel twin-rotor helicopter flight control into
Row explanation.
One, flight balance condition
Referring to figure 5., Fig. 5 is shaft type full rigidity twin-rotor helicopter flight universal altogether provided by the embodiment of the utility model
When equilibrium state force analysis figure.
In Fig. 5, F is rotor shaft along the rotor thrust for acting axially on fuselage, position oF, fixed not with respect to fuselage
Become, rotor shaft can be around oFChange o'clock in a coning angle axial；Cross oFMake trunnion axis x-axis and vertical axis z-axis respectively；F and x-axis
It is coplanar with z-axis, and be θ with the angle of z-axis；V is the flying speed of helicopter, parallel with x-axis；W be fuselage gravity, vertically to
Under, act on the center of gravity o of fuselageW；L is arbor, i.e. oFPoint and oWLine extended line；T is the air that helicopter is head-on subject to
Resistance is closed, direction and speed v are on the contrary, act on and center of gravity oWThe horizontal fuselage surface of same.
According to mechanics principle, in the case where not considering that rotation of the fuselage around arbor l only considers that fuselage rolls, directly
Condition of the machine of the liter flight in equilibrium state is: the bonding force and bonding force square acted on helicopter is zero.It can be proved that
The flight attitude equilibrium condition of helicopter is:
1) body nodal point oWOn the extended line of rotor thrust F, at this moment, the symmetry axis of rotor shaft is overlapped with arbor l,
2) | T ' |=| W | sin θ,
3) | F |=| W | cos θ,
Wherein, T ' is that air closes resistance T to fuselage oFThe equivalent force for the moment of resistance that point generates, acts on body nodal point oW, side
To it is vertical with arbor l and upwards.
First equilibrium condition indicates that the rotor thrust F that rotor shaft provides is equal to zero to the torque that helicopter generates.Existing
Have in the helicopter of technology, rotor shaft axial restraint is constant, therefore arbor l is because load change is difficult the symmetry axis weight with rotor shaft
It closes, the gravitational moment of rotor shaft is constantly present, additional equilibrium device is needed, rotor centrum side is such as adjusted by " auto-bank unit "
It is balanced to realizing.Universal shaft type full rigidity twin-rotor helicopter altogether provided by the embodiment of the utility model, rotor shaft is in air
Automatically around o under the action of resistance TFIt turns to and is overlapped with arbor l.At this moment, air drag T is to oFTorque be equal to gravity W to oF's
Torque makes second equilibrium condition automatically | T ' |=| W | sin θ is set up, and forms the mutual balance of gravitational moment and the moment of resistance, no
Need attachment device or artificial manipulation.
Third equilibrium condition | F |=| W | cos θ indicates the bonding force balance of vertical direction, especially as θ=0, F=W,
Helicopter hovering；When θ=90 °, in the horizontal direction to the rotor thrust of fuselage, similar fixed wing aircraft can make machine to rotor shaft
Body obtains max level speed.
Two, flight control mode
Referring to figure 5. and Fig. 6, Fig. 6 are that universal shaft type full rigidity DCB Specimen altogether provided by the embodiment of the utility model is gone straight up to
The flight attitude of machine manipulates schematic diagram, illustrates the stress relationship and its flight attitude manipulation of rotor shaft and fuselage in coning angle
Principle.
In Fig. 6, W and F still respectively indicate the gravity of fuselage and rotor shaft acts on rotor thrust on fuselage；oFFor F
Position, x-axis was oFTrunnion axis；Double dot dash line lFFor the extended line of rotor thrust F, that is, the symmetry axis of rotor shaft；With
W indicates rotor shaft gravity, owFor the position of w, in lFOn, and be much smaller than fuselage gravity, i.e., | w | < < | W |；Chain-dotted line l indicates machine
Axis, i.e. oFWith body nodal point oWLine；Heavy line l is used again1Indicate lFMaximum allowable ferry-boat boundary, fine line l2Indicate arbor
The boundary of the maximum allowable ferry-boat of l, l1And l2The conical surface of two circular cones is actually set forth, corresponding coning angle is respectively Ω1
(circle of dotted line in Fig. 6) and Ω2(Fig. 6 chain lines circle)；Dotted line loThe design position for indicating arbor l when helicopter design manufacture, claims
For theoretical arbor and coning angle Ω1With coning angle Ω2Symmetry axis.
Under normal circumstances, due to load change, the actual center gravity position of fuselage exists with respect to design position to drift about, arbor l
It will deviate from theoretical arbor lo, deflecting angle indicates that gravity W is to o with ωFGenerate the gravitational moment for making fuselage deflection；On the other hand,
If the symmetry axis l of rotor shaftFDeviate arbor l, deflecting angle is usedIt indicating, the bonding force square of fuselage is not zero, and F pairs of rotor thrust
Body nodal point oWGenerate the torque for overturning fuselage clockwise.At this moment, rotor shaft center of gravity owPosition will determine helicopter
Operating pattern is explained as follows respectively:
First mode, owIn oFLower section, helicopter have the function of the hovering that tends towards stability.It is a kind of that Fig. 6 gives this mode
State, it can be seen at this time ω > 0, gravity W is to oFThe gravitational moment of generation can be such that arbor l tends to and horizontal plane, while becauseOr because of lFNot with horizontal plane, rotor shaft gravity w is to oFPoint, which generates a torque, can make lFTend to hang down with horizontal plane
Directly.As a result, the symmetry axis l of arbor l and rotor shaftFIt will be overlapped on horizontal plane direction.At this moment, as long as driver decontrols
Control stick 08 is allowed in free state, by the good rotor revolving speed of Throttle Opening Control, so that last F=W, helicopter automatically tend to
The floating state of stable equilibrium.
Second mode, rotor shaft center of gravity owWith oFIt is overlapped, helicopter has the function of the flight that tends towards stability.In Fig. 6, if
Rotor shaft center of gravity owWith oFIt is overlapped, then rotor shaft gravity w is to oFTorque be zero, thus lFDirection remain unchanged.In Fig. 6
In the case that other primary condition are constant, then there is fuselage gravity W that arbor l is made to tend to vertical, rotor thrust F makes fuselage speedup, empty
Gas closes resistance T to oFThe moment of resistance of point increases, and keeps constant clockwise.In this way, the gravitational moment of gravity W will be from clockwise
Direction is gradually decrease to zero, then counterclockwise is gradually increased by zero, until mutually balancing with the moment of resistance of air, i.e.,
There is state shown in fig. 5.At this moment, arbor l clockwise is from trend lFIt draws close, center of gravity oWAlso it is automatically shifted to lFOn, as long as driver
Control stick 08 is decontroled, is allowed in free state, by the good rotor revolving speed of Throttle Opening Control, so that | F |=| W | cos θ, helicopter
Automatically tend to the preceding winged state of stable equilibrium.
Both the above operating pattern analysis as it can be seen that rotor shaft gravity w relative position for helicopter flight stability
With decisive role, and rotor shaft and the integrated technical solution of driving device are particularly easy to the processing of rotor shaft counterweight, it is ensured that
Helicopter has from steady function.
Three, flight control
Fig. 1, Fig. 6 and Fig. 7 are please referred to, Fig. 7 is universal shaft type full rigidity DCB Specimen altogether provided by the embodiment of the utility model
The flight attitude of helicopter manipulates schematic diagram, illustrates a kind of simple handle structure and method of operating.
Because of the coning angle Ω in Fig. 61With coning angle Ω2It is typically small, therefore Fig. 7 can be understood as the interior shaft in Fig. 1
Make transversal when horizontal cross-section at 011 the second universal joint of lower end 09 to Fig. 1 and Fig. 6, wherein control stick 08 and the second universal joint
09 is object in kind, comes from Fig. 1；Two solid line circles, a circle of dotted line and corresponding two coordinate systems are all virtual objects, are come from
Fig. 6 gives helicopter flight immediate status.
In Fig. 7, two solid line concentric circles respectively correspond coning angle Ω1With coning angle Ω2, respectively indicate lFMost with arbor l
Allow boundary of ferrying greatly；Point oF, point oWWith point owIt is considered that being the position of three power F, W and w respectively respectively along theoretical arbor
lo, arbor l and rotor shaft symmetry axis lFProjection on to horizontal cross-section (or is interpreted as lo, l and lFWith the friendship of horizontal cross-section
Point)；Point oFOccupy concentric circles Ω1And Ω2The center of circle, the conical tip in corresponding diagram 6, fixed and body nodal point reason
Think position；Point oWFor the physical location of body nodal point, circle Ω2It can also be construed to center of gravity oWPermission range of drift；Point owFor rotation
The physical location of wing axis center of gravity, it is Chong Die with the second universal joint 09, it is limited in round Ω1Interior variation.
Cross point oFMake a theoretical coordinate system, indicate four direction all around, indicates in the ideal case, corresponding point oF, point
owThe position instruction at place goes out the intensity that helicopter flies to from left to right speed change forward backward.Therefore, extending in the front-back direction
On line, a sliding block 083 that can switch between movement and fixation is set, a sliding pin 084, sliding pin 084 are set on sliding block 083
It is slided in the sliding slot 081 of control stick 08, is swung and be moved forward and backward and by front and back adjusting slider by control crank 082
083, it can control point owIn circle Ω1Interior universe changes.
But point oWIt is constantly present drift, maximum drift amount is limited in round Ω2It is interior, therefore cross point oWMake an amendment coordinate
It is xoWY replaces theoretical coordinate system, and before indicating actual with x-axis with after, y-axis indicates actual left and right, then with point oWFor the center of circle,
Make circle Ω1Inscribed circle (circle of dotted line in Fig. 7), then can limit point owCorresponding point oWIt is changed in circle of dotted line.
In this way, the flight attitude manipulation of universal shaft type full rigidity twin-rotor helicopter altogether provided by the embodiment of the utility model
Method is as follows:
1) up and down.By the speed manipulation rise and fall for controlling rotor.
2) it hovers, preceding winged, side flies, flies afterwards, turns.It, will point o by control stick 08 in Fig. 7wControl corresponding point oW's
Corresponding position all around.
3) course.Since power F, W and arbor l are coplanar, when cannot be used directly to manipulation course, therefore use engine driving,
One small tail vane can be set in fuselage, be changed course using the air-flow that rotor provides, and using when being driven by electricity, it can directly adjust
Rotating ratio between rotor 012 and lower rotor 022 changes course.
Under the second mode, flight control step:
The first step starts engine, idling preheating；
Second step, manipulation rotor shaft to vertical, relieving control stick 08 to free state；
Third step is slowly refueled to the liftoff hovering of fuselage, this time point owWith point oWOverlapping；
4th step marks Fig. 7 middle fuselage center of gravity oWPosition is as a reference point, and sliding block 083 is allowed to be moved to sliding pin along dotted line
084 occupies the middle position of sliding slot 081, fixed sliding block 083；
5th step, then with sliding pin 084 be fulcrum, pass through 082 control point o of handlewDeviation point oW, such as slowly moved along x-axis rear
Dynamic point ow, the revolving speed of cooperation control throttle increase rotor, helicopter will forward or front upper place accelerates flight；
6th step, flight reach desired height and speed, decontrol control stick 08 to free state, control throttle, point owIt will
Auto-returned point oW, at this moment, the symmetry axis l of arbor l and rotor shaftFIt is overlapped, helicopter enters stabilized flight condition, remains a constant speed
Straight horizontal flight.
Finally, it should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment
What is stressed is all differences from other embodiments, and same and similar part cross-reference is between each embodiment
It can；The above various embodiments is only to illustrate the technical solution of the utility model, rather than its limitations；Although referring to aforementioned each implementation
The utility model is described in detail in example, those skilled in the art should understand that: it still can be to aforementioned
Technical solution documented by each embodiment is modified, or equivalent substitution of some or all of the technical features；
In the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.And these modifications, replacement
Or combination, the scope of the technical solutions of the embodiments of the utility model that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of universal shaft type full rigidity twin-rotor helicopter altogether characterized by comprising fuselage, rotor shaft, rotor and driving
Device；
The rotor shaft includes interior shaft and outer shaft；
The rotor includes upper rotor and lower rotor；
The interior shaft and the outer shaft are coaxial, and are connect by universal bearing component with the fuselage, can be with respect to institute
Fuselage is stated to rotate around same fixed pivot；The fixed pivot is located on the axis of the interior shaft；
The driving device is sequentially connected with the interior shaft and the outer shaft respectively, to respectively drive the interior shaft around certainly
Body axis rotation and the outer shaft are around own axis；
The upper rotor is fixedly connected on the interior shaft, and the lower rotor is fixedly connected on the outer shaft；The upper rotor
Axially spaced-apart with the lower rotor along the interior shaft is distributed.
2. universal shaft type full rigidity twin-rotor helicopter altogether according to claim 1, which is characterized in that the upper rotor packet
Blade in propeller hub and multi-disc is included, the upper propeller hub is fixedly connected on the end of the interior shaft；Upper blade is along institute described in multi-disc
The circumferential direction for stating interior shaft is evenly spaced on, and is fixedly connected in the upper propeller hub；
The lower rotor includes blade under lower propeller hub and multi-disc, and the lower propeller hub is fixedly connected on the end of the outer shaft；It is more
Lower blade described in piece is evenly spaced on along the circumferential direction of the outer shaft, and is fixedly connected in the lower propeller hub.
3. universal shaft type full rigidity twin-rotor helicopter altogether according to claim 1, which is characterized in that the universal bearing
Component includes change and transmission frame body；The interior shaft and the outer shaft are rotationally connected with the transmission frame body, and
The relatively described transmission frame body is around own axis；
The transmission frame body is rotationally connected with the change, can rotate relative to the change around first axle；
The change is rotationally connected with the fuselage, can rotate relative to the fuselage around second axis；
The first axle and the second axis intersect at the fixed pivot.
4. universal shaft type full rigidity twin-rotor helicopter altogether according to claim 3, which is characterized in that the first axle
Perpendicular to the second axis.
5. universal shaft type full rigidity twin-rotor helicopter altogether according to claim 3, which is characterized in that the outer shaft is logical
It crosses Upper shaft sleeve and is rotationally connected with the transmission frame body；
The interior shaft is passed through from the outer shaft, and passes through rotation connection component and the transmission frame body and outer turn described
Axis rotation connection.
6. universal shaft type full rigidity twin-rotor helicopter altogether according to claim 3, which is characterized in that the driving device
Including first bevel gear, second bevel gear and third hand tap gear；
The outer shaft is fixedly connected with the second bevel gear；
The interior shaft is passed through from the outer shaft, is fixedly connected with the first bevel gear；
The third hand tap gear is rotationally connected with the transmission frame body, can the relatively described transmission frame body around own axis, and
And two sides are engaged with the first bevel gear and the second bevel gear respectively.
7. universal shaft type full rigidity twin-rotor helicopter altogether according to claim 6, which is characterized in that the driving device
Including two third hand tap gears, two third hand tap gears are oppositely arranged.
8. universal shaft type full rigidity twin-rotor helicopter altogether according to claim 6, which is characterized in that the driving device
Further include engine driving component and the first universal joint, the engine driving component by first universal joint with it is described interior
Rotating shaft transmission connection.
9. universal shaft type full rigidity twin-rotor helicopter altogether according to claim 3, which is characterized in that the driving device
Including first motor and the second motor, the first motor and second motor are all connected to the transmission frame body, and institute
The rotor of the rotor and second motor of stating first motor is coaxial；
The rotor of the outer shaft and second motor is sequentially connected；
The interior shaft is passed through from the outer shaft, is sequentially connected with the rotor of the first motor.
10. -9 described in any item universal shaft type full rigidity twin-rotor helicopters altogether according to claim 1, which is characterized in that institute
Stating universal shaft type full rigidity twin-rotor helicopter altogether further includes the second universal joint and control stick, and the control stick passes through described second
Universal joint is connected to the one end of the interior shaft far from the upper rotor, for driving the interior shaft and the outer shaft opposite
The fuselage is rotated around the fixed pivot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821030425.7U CN208515806U (en) | 2018-06-27 | 2018-06-27 | Universal shaft type full rigidity twin-rotor helicopter altogether |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821030425.7U CN208515806U (en) | 2018-06-27 | 2018-06-27 | Universal shaft type full rigidity twin-rotor helicopter altogether |
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| CN208515806U true CN208515806U (en) | 2019-02-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791857A (en) * | 2018-06-27 | 2018-11-13 | 盛利元 | Universal shaft type full rigidity twin-rotor helicopter altogether |
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2018
- 2018-06-27 CN CN201821030425.7U patent/CN208515806U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791857A (en) * | 2018-06-27 | 2018-11-13 | 盛利元 | Universal shaft type full rigidity twin-rotor helicopter altogether |
| WO2020000857A1 (en) * | 2018-06-27 | 2020-01-02 | 盛利元 | Common universal shaft full-rigidity dual-rotor helicopter |
| CN108791857B (en) * | 2018-06-27 | 2024-01-19 | 盛利元 | Coaxial full-rigid double-rotor helicopter |
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